U.S. patent number 4,935,949 [Application Number 07/251,223] was granted by the patent office on 1990-06-19 for gantry for computerized tomography.
This patent grant is currently assigned to Yokogawa Medical Systems, Limited. Invention is credited to Kenjiro Fujita, Masahiko Hasumi, Ryo Takahashi.
United States Patent |
4,935,949 |
Fujita , et al. |
June 19, 1990 |
Gantry for computerized tomography
Abstract
A gantry for computerized tomographs that can be freely moved up
to or away from a patient on an operating table has been developed.
It consists of a gantry main body (1) and mobile trolley section
(2) that runs along a guideline formed on the floor with the gantry
mounted.
Inventors: |
Fujita; Kenjiro (Tokyo,
JP), Hasumi; Masahiko (Tokyo, JP),
Takahashi; Ryo (Tokyo, JP) |
Assignee: |
Yokogawa Medical Systems,
Limited (Tokyo, JP)
|
Family
ID: |
12010871 |
Appl.
No.: |
07/251,223 |
Filed: |
July 22, 1988 |
PCT
Filed: |
January 30, 1987 |
PCT No.: |
PCT/JP87/00063 |
371
Date: |
July 22, 1988 |
102(e)
Date: |
July 22, 1988 |
PCT
Pub. No.: |
WO87/04609 |
PCT
Pub. Date: |
August 13, 1987 |
Foreign Application Priority Data
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Jan 31, 1986 [JP] |
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61-19856 |
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Current U.S.
Class: |
378/198; 901/1;
378/4 |
Current CPC
Class: |
A61B
6/035 (20130101); G05D 1/0072 (20130101); G05D
1/0244 (20130101); B62D 1/28 (20130101); A61B
6/4405 (20130101); G05D 1/0272 (20130101); G05D
1/0265 (20130101); G05D 2201/0206 (20130101) |
Current International
Class: |
A61B
6/03 (20060101); A61B 6/00 (20060101); B62D
1/00 (20060101); B62D 1/28 (20060101); G05D
1/02 (20060101); G05D 1/00 (20060101); H05G
001/02 () |
Field of
Search: |
;378/195-198 ;901/1
;180/167-169 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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2806956 |
|
Aug 1979 |
|
DE |
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0050015 |
|
Sep 1980 |
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JP |
|
Primary Examiner: Church; Craig E.
Assistant Examiner: Freeman; John C.
Attorney, Agent or Firm: Kojima; Moonray
Claims
We claim:
1. An apparatus for holding and roving a computerized tomograph
gantry, said gantry comprising a generally circular hollow
structure into which a body to be examined is received, said
apparatus comprising
a substantially horizontally disposed rectangular flat platform
having a first end and opposite thereto a second end with a first
linear dimension therebetween and perpendicular thereto a second
linear dimension of said platform, said gantry being disposed on
said platform at said first end thereof;
a base comprising a bottom, a first part, a second part, and a
connecting part, said first part and said second part being
connected to said connecting part with a horizontal space
therebetween a linear dimension larger than said second linear
dimension of said platform and extending from said connecting part
of a linear dimension equal to the first linear dimension of said
platform, said connecting part having a vertical dimension larger
than a vertical dimension of said first and second parts;
means for vertically moving said platform between a position
located between said first part and said second part of said base
and a position located as high as the vertical dimension of the
connecting part of said base, said means for vertically moving
comprising
a guide rail vertically extending and disposed within said
connecting part of said base;
cam follower means connected to said platform at said second end
thereof and disposed to contact said guide rail for holding said
platform in substantially horizontal position while said platform
is moved up and down;
power lifting means connected to said connecting part of said base
and in contact with said platform toward said second end thereof,
for lifting up and down said platform;
means for horizontally moving said base, said means for
horizontally moving comprising at least one driven wheel movably
connected to the bottom of said base;
means for steering said base while being horizontally moved, said
means for steering comprising
at least one steering wheel movably connected to the bottom of said
base,
means for causing said at least one steering wheel to turn in
selected horizontal directions;
means for guiding the movement of said steering wheel in the
selected horizontal directions, said means for guiding
comprising
guide means disposed on a floor below said bottom of said base,
means for sensing the guide means and for sending signals
indicative of the directions of said guide means to said means for
causing the turning of the steering wheel; and
motor means for driving said at lest one driven wheel and said at
least one steering wheel.
2. The apparatus of claim 1, wherein said means for sensing
comprises an optical sensor.
3. The apparatus of claim 1, wherein said means for sensing
comprises a magnetic sensor.
4. The apparatus of claim 1, wherein said means for sensing
comprises a radio wave detector.
5. The apparatus of claim 1, wherein further comprising a plurality
of vertically extendible outriggers attached to the bottom of said
base.
6. The apparatus of claim 1, wherein said power lifting means
comprises a hydraulic cylinder.
7. The apparatus of claim 1, wherein said power lifting means
comprises an electric motor.
8. An apparatus for holding and moving a computerized tomograph
gantry, said gantry comprising a generally circular hollow
structure into which a body to be examined is received, said
apparatus comprising
a horizontally disposed rectangular platform having a first end and
a second end opposite thereto with a first linear dimension
therebetween and perpendicular thereto a second linear dimension of
said platform, said gantry being disposed on said platform at said
first end thereof;
a base comprising a first part, a second part, and a connecting
part, said first part and said second part being connected to said
connecting part with a horizontal space therebetween of a linear
dimension larger than said second linear dimension of said platform
and extending from said connecting part of a linear dimension equal
to the first linear dimension of said platform, said connecting
part having a vertical dimension larger than a vertical dimension
of said first and second parts;
means for movably holding said second end of said platform to said
connecting part of said base;
means for vertically moving said platform to a position vertically
located between a top of said first and second parts of said base
and a position located vertically at a top of said connecting part
of said base; and
means for horizontally moving said base.
Description
(TECHNICAL FIELD)
This invention is related to an improved gantry for computerized
tomographs. In other words, this invention is related to the gantry
mounted on a trolley that can be freely moved up to or away from a
patient on an operating table to facilitate the required tomography
during surgery.
(BACKGROUND ART)
Because the computerized tomograph (hereinafter called the CT)
requires projection data from multiple directions on the section of
the subject under examination, an X-ray computerized tomographic
scanner has an X-ray tube and X-ray detector installed on the
gantry as integral parts, and revolves around the subject while
collecting projection data at each specified angle of revolution.
Projection data collected from multiple directions are processed by
a computer to reconstruct sectional images. For surgery patients, a
tomograph of the affected parts are taken before surgery to confirm
the parts of patients to be operated on or to determine the method
of surgery. Tomography is used after surgery to check the results.
If tomography can be performed during an operation, the progress of
the operation and proper treatment can be checked on the spot,
which helps to determine whether the operation should be continued
or terminated. Note that because a patient being operated on cannot
be moved to where the CT scanner is installed, tomography during
surgery was previously not possible.
(DISCLOSURE OF THE INVENTION)
The object of this invention is to provide a gantry for making
computerized tomographs by moving the equipment up to or away from
a patient on an operating table to facilitate the required
tomography during surgery.
The gantry for computerized tomographs of this invention features a
gantry main body (1), and a mobile trolley (2) on which the gantry
is mounted, and which runs along a guide line installed on the
floor.
(BRIEF DESCRIPTION OF DRAWINGS)
FIG. 1 is a schematic block diagram of an embodiment of this
invention.
FIG. 2 and 3 are block diagrams of the trolley section, and show a
part of the example of the embodiment of this invention. FIG. 2 is
a plan view and FIG. 3 is a side view.
(BEST MODE FOR CARRYING OUT THE INVENTION)
An embodiment of the invention is described by using an example and
with reference to the accompanying drawings. In FIG. 1, "1"
designates the gantry main body. A part of patient's body to be
subjected to tomography is received in the hollow space to collect
projection data on the sections. Gantry main body 1 is connected to
a computer and power supply with cables not shown in the figure "2"
designates a trolley consisting of roof or platform 3 and
supporting base 4. Gantry main body 1 is mounted on roof 3, while
the trolley moves on floor 5. Base 4 has various mechanism types as
shown in FIGS. 2 and 3.
In FIGS. 2 and 3, "6" designates a driving wheel in contact with
floor 5, which propels trolley 2. "7" designates a drive motor that
drives driving wheel 6. 8 designates a steering device whose (right
side) of the figure) is fixed to the wall of base 4. By extending
or contracting the other end, the device can change the direction
of driving wheel 6 centered at axis 6c. 37 9a and 9b" designate
driven wheels with swivel bases fixed to base 4. "10" designates a
guideline that sets the course of the moving trolley. This course
is formed but not limited by using reflecting tape on floor 5. Such
a guideline may be formed by using magnetism or radio waves, in
which case a magnetic sensor or a radio wave detector is used. "11a
and 11b" designate guideline sensors fixed to base 4. These are
optical sensors that detect reflection from reflecting tape 10.
Detection signals from guideline sensors 11a and 11b are conducted
via a signal line (not shown) to steering device 8. "12a, 12b, 12c,
and 12d" are outriggers or posts, one end of each being fixed to
base 4 and the other end of each extending or contracting
hydraulically to lock or unlock trolley section 2 against or away
from floor 5.
"13a and 13b" are hydraulic cylinders in which pistons 13c and 13d
move up and down. Other means, such as an electric motor, can be
used to move the platform up and down. The lower ends of hydraulic
cylinders 13a and 13b are fixed to base 4, while the upper ends of
pistons 13c and 13d support the lower face of roof 3 and lift or
lower the roof by their movement. "14a and 14b" are guide rails
fixed to base 4 that guide the lifting or lowering movement of roof
4 while being sandwiched by camfollowers 15 fixed to roof 3. Eight
cam-followers 15 are provided (two above, two below, two to the
right, and two to the left of roof 3) toward the end closer to base
4 to sandwich guide rails 14a and 14b.
To apply a gantry of this invention in the operating room,
guideline 10 must be formed in advance by using reflective tape
between the operating table and a siding (not shown) for the gantry
provided several meters away from the operating table. Guideline 10
may be formed without adversely affecting the floor face. The
siding for the gantry is provided in a section that does not
interfere with the operation. The gantry of this invention is to be
delivered to the operating room and installed with the siding so
that guideline sensors 11a and 11b are placed above guideline
10.
If tomography is required during surgery, the operator must press
the forward switch (not illustrated) of trolley section 2 of the
gantry in the siding. Then drive motor 7 drives driving wheel 6 to
move trolley section 2 with gantry main body 1 forward to the
operating table. During this movement, guideline sensors 11a and
11b detect the reflected light signal sent from guideline 10 formed
on floor 5. Therefore, if trolley 2 goes off course, the volume of
reflected light decreases. This actuates steering device 8 to turn
the driving wheel 6 (centered on axis 6c) to correct the direction
of trolley movement. Accordingly, trolley 2 moves correctly along
guideline 10.
When gantry main body 1 is carried by the forward movement of
trolley 2 to the required position near a patient on the operating
table, the operator must press a stop button (not illustrated in
the figure) to stop the forward trolley movement. Then, by using a
roof up/down switch (not illustrated), the level of roof 3 is
adjusted to match the center of the section of the patient to be
subjected to tomography with the center of the measuring space in
gantry main body 1. In other words, when the roof up/down switch is
pressed for upward movement, fluid is pumped into hydraulic
cylinders 13a and 13b to move pistons 13c and 13d up to push roof 3
up. Then, cam-followers 15 attached to roof 3 smoothly lift roof 3
along guide rails 14a and 14b. When the roof up/down switch is
pressed for down movement, the fluid inside hydraulic cylinders 13a
and 13b is expelled to move pistons 13c and 13d down to lower roof
3. After determining the position of gantry main body 1, the gantry
set switch (not illustrated) must be pressed by the operator to
hydraulically lower outriggers 12a through 12d to floor 5 to fix
trolley section 2 against the floor.
Tomography is subsequently done according to normal operation. If
an other section of the patient's body is to be photographed,
gantry main body 1 is set to the new position according to the same
steps as described above after releasing the lock set by outriggers
12a through 12d. When tomography is completed, outriggers 12a
through 12d are unlocked, and trolley section 2 returns to the
siding as if the backward switch were pressed. When the backward
switch is pressed, motor 7 revolves in the reverse direction to
move trolley section 2 backward.
Guideline sensors 11a and 11b and steering device 8 control the
course of movement in the same way as for forward movement.
As previously described, the gantry of this invention enables
tomography according to simple operating steps at any time during
an operation. Furthermore, the invention should not be limited to
the specific details of examples of the previously described
embodiments. For the illustrated preferred embodiments, trolley
section 2 has one drive wheel and two driven wheels. Two drive
wheels and one driven wheel may be alternatively used and two drive
wheels may be driven independently and the trolley sections may be
steered by controlling the number of revolutions of the left and
right wheels. The number of outriggers or posts is not limited to
four; some or all may can be eliminated if the floor is
sufficiently level. While the previous examples show the use of
hydraulic cylinders to lift or lower the roof, a motor cylinder
consisting of a screw bar and nut may be alternatively used.
Furthermore, for safety, the drive motor may be automatically
braked at the time of power failure or a self-locking device with a
gearbox may be alternatively used.
While the embodiments of this invention as herein disclosed
constitute the preferred forms, other forms might be adopted with
ease by those possessing knowledge in technological field to which
this invention can be applied without departing from the spirit or
claims as hereinunder stated.
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